Vehicle control device, vehicle, vehicle control method and program

Abstract

To provide a vehicle control device for limiting driving torque to suppress acceleration shock when backlash of a gear is removed when target driving torque is switched from negative to positive.SOLUTION: In a vehicle control device 64, when positive / negative of output driving torque is switched, a target driving torque setting unit 78 executes a torque limiting process of limiting an absolute value of the target driving torque to a predetermined limit value or less, and the target driving torque setting unit 78 ends the torque limiting process based on determination by a determination unit that a time integral value has reached a predetermined value.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device, a vehicle, a vehicle control method, and a program. [Background technology]

[0002] Patent Document 1 below discloses a drive torque control device for a vehicle. In this drive torque control device, when the target drive torque switches from negative to positive, the drive torque is limited to suppress acceleration shock that occurs when gear backlash is removed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2014 / 091917 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned Patent Document 1, a time count is started when drive torque limitation is initiated, and drive torque limitation is terminated when the timer reaches or exceeds an end determination threshold. For example, if there is a period during the drive torque limitation period in which the drive torque is smaller than the limit value, backlash may not be eliminated even when the timer reaches or exceeds the end determination threshold. As a result, drive torque limitation may end even though backlash has not been eliminated, which could result in an acceleration shock.

[0005] The present invention aims to solve the above-mentioned problems. [Means for solving the problem]

[0006] A first aspect of the present disclosure is a vehicle control device comprising: a target driving torque setting unit that sets a target driving torque of a driving source that drives driving wheels provided on a vehicle; an output driving torque acquisition unit that acquires the output driving torque of the driving source; a control unit that controls the driving source in accordance with the target driving torque; a calculation unit that calculates a time integral value of the output driving torque after the sign of the output driving torque changes, or calculates a time integral value of the target driving torque after the sign of the required driving torque for the driving source changes; and a judgment unit that judges whether the time integral value calculated by the calculation unit has reached a predetermined value; when the sign of the output driving torque or the required driving torque changes, the target driving torque setting unit executes a torque limiting process that limits the absolute value of the target driving torque to below a predetermined limit value, and based on the judgment unit's judgment that the time integral value has reached the predetermined value, the target driving torque setting unit terminates the torque limiting process.

[0007] A second aspect of the present disclosure is a vehicle including the vehicle control device of the first aspect.

[0008] A third aspect of the present disclosure is a vehicle control method comprising: a target drive torque setting step of setting a target drive torque of a drive source that drives drive wheels provided on a vehicle; an output drive torque acquisition step of acquiring an output drive torque of the drive source; a control step of controlling the drive source in accordance with the target drive torque; a calculation step of calculating a time integral value of the output drive torque after the sign of the output drive torque changes, or calculating a time integral value of the target drive torque after the sign of a required drive torque for the drive source changes; and a determination step of determining whether the time integral value calculated in the calculation step has reached a predetermined value; when the sign of the output drive torque or the required drive torque changes, the target drive torque setting step executes a torque limiting process that limits the absolute value of the target drive torque to a predetermined limit value or less; and based on the determination in the determination step that the time integral value has reached the predetermined value, the target drive torque setting step terminates the torque limiting process.

[0009] A fourth aspect of the present disclosure is a program that causes a computer to execute the vehicle control method according to the third aspect. [Effects of the Invention]

[0010] The present disclosure can provide a better vehicle control device, vehicle, vehicle control method, and program. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a system diagram showing the configuration of a drive system of a vehicle according to one embodiment. [Figure 2] FIG. 2 is a diagram showing power and electric power supply paths in the EV driving mode. [Figure 3] FIG. 3 is a diagram showing power and electric power supply paths in the series running mode. [Figure 4] FIG. 4 is a diagram showing power and electric power supply paths in the engine running mode. [Figure 5] FIG. 5 is a control block diagram of a vehicle control device according to an embodiment. [Figure 6] FIG. 6 is a flowchart of a drive source control process performed by the vehicle control device in one embodiment. [Figure 7] FIG. 7 is a flowchart showing the torque limiting process performed in the target drive torque setting section. [Figure 8] FIG. 8 is a time chart showing the operation of the vehicle before and after the torque limiting process. [Figure 9] FIG. 9 is a time chart showing the operation of the vehicle before and after the torque limiting process. [Figure 10] FIG. 10 is a time chart showing the operation of the vehicle before and after the torque limiting process. DETAILED DESCRIPTION OF THE INVENTION

[0012] In a vehicle having a drive motor as a drive source for driving the drive wheels, when the driver is not stepping on the accelerator pedal, the drive motor performs regeneration, so the output drive torque of the drive motor is negative. On the other hand, when the driver is stepping on the accelerator pedal, the drive motor performs power running, so the output drive torque of the drive motor is positive. Because gears are interposed between the drive motor and the drive wheels, there is a risk of gear rattle noise occurring when the output drive torque of the drive motor switches between positive and negative.

[0013] Therefore, conventionally, the output drive torque of the drive motor is limited until a predetermined time has elapsed since the positive / negative state of the output drive torque of the drive motor is switched. This allows the gear backlash to be removed before the limit on the output drive torque of the drive motor is released, thereby suppressing gear rattle noise.

[0014] However, depending on the amount of accelerator pedal depression by the driver, the limit on the output drive torque of the drive motor may be lifted before the gear backlash is eliminated, and gear rattle noise may not be suppressed.

[0015] Even in vehicles that have an engine as a drive source for driving the drive wheels, the same problems as those described above have been encountered.

[0016] The present disclosure can suppress gear rattle noise regardless of the amount of accelerator pedal operation by the driver.

[0017] [One embodiment] [Overall configuration] 1 is a system diagram showing the configuration of a drive system of a vehicle 10 according to one embodiment. The vehicle 10 includes a drive unit 12, a battery 14, and a voltage control unit 16.

[0018] The drive unit 12 has an engine 18 and a drive motor 20 as drive sources. Drive wheels 22, which are the front wheels of the vehicle 10, are driven by the driving force of the engine 18 or the drive motor 20. In one embodiment, the vehicle 10 is a front-wheel drive vehicle, but the vehicle 10 may also be a rear-wheel drive vehicle. The vehicle 10 may also be an all-wheel drive vehicle.

[0019] Battery 14 is, for example, a lithium ion battery, a nickel-metal hydride battery, etc. Voltage control unit 16 boosts the voltage of the DC power output from battery 14 and outputs it to drive unit 12. Voltage control unit 16 also reduces the voltage of the DC power output from drive unit 12 and outputs it to battery 14. Voltage control unit 16 is, for example, a DC-DC converter.

[0020] [Drive unit configuration] In addition to the engine 18 and the drive motor 20 , the drive unit 12 also includes a generator 24 , an inverter 26 , an inverter 28 , and a transmission mechanism 30 .

[0021] The generator 24 is connected to the battery 14 via the inverter 26 and the voltage control unit 16. The battery 14 is charged with the power generated by the generator 24. The AC power generated by the generator 24 is converted into DC power by the inverter 26. The DC power output from the inverter 26 is stepped down by the voltage control unit 16 and supplied to the battery 14.

[0022] The drive motor 20 is connected to the battery 14 via an inverter 28 and a voltage control unit 16. When the drive motor 20 is powered, it is driven by the power of the battery 14. The DC power output from the battery 14 is boosted by the voltage control unit 16. The DC power output from the voltage control unit 16 is converted to AC power by a second inverter and supplied to the drive motor 20. When the drive motor 20 is regenerating, the battery 14 is charged by the power generated in the drive motor 20. The AC power generated in the drive motor 20 is converted to DC power by the inverter 28. The DC power output from the inverter 28 is reduced in the voltage control unit 16 and supplied to the battery 14.

[0023] The transmission mechanism 30 includes an input shaft 32 , a generator shaft 34 , a motor shaft 36 , a countershaft 38 , and a differential mechanism 40 .

[0024] The input shaft 32 is disposed on the axis of a crankshaft 42 of the engine 18. Power from the crankshaft 42 is transmitted to the input shaft 32 via a damper 44. An output gear 46 that rotates together with the input shaft 32 is provided on the input shaft 32. An output gear 48 is also provided on the input shaft 32. A clutch 50 is provided between the input shaft 32 and the output gear 48. When the clutch 50 is engaged, power is transmitted between the input shaft 32 and the output gear 48. When the clutch 50 is disengaged, power is not transmitted between the input shaft 32 and the output gear 48.

[0025] The generator shaft 34 is connected to a generator rotor 52 of the generator 24. The generator shaft 34 rotates together with the generator rotor 52. The generator shaft 34 is also provided with an input gear 53 that rotates together with the generator shaft 34. The input gear 53 is in mesh with the output gear 46 of the input shaft 32.

[0026] The driving force of the engine 18 is transmitted to the generator 24 via the input shaft 32 and the generator shaft 34, and electricity is generated in the generator 24.

[0027] The motor shaft 36 is arranged on the same axis as the generator shaft 34. A portion of the generator shaft 34 is inserted into the inner periphery of the motor shaft 36. The motor shaft 36 is connected to a motor rotor 54 of the drive motor 20. The motor shaft 36 rotates together with the motor rotor 54. The motor shaft 36 is also provided with an output gear 56 that rotates together with the motor shaft 36. The output gear 56 meshes with the output gear 48 of the input shaft 32 and an input gear 58 of the countershaft 38, which will be described later.

[0028] The countershaft 38 has an input gear 58 that rotates together with the countershaft 38. The countershaft 38 also has an output gear 60 that rotates together with the countershaft 38. The output gear 60 meshes with a ring gear 62 of the differential mechanism 40.

[0029] [Driving mode] A description will be given of the driving modes of the drive unit 12. In one embodiment, the drive unit 12 can switch between three modes: an EV driving mode, a series driving mode, and an engine driving mode.

[0030] (EV driving mode) Fig. 2 is a diagram showing power and electric power supply paths in the EV driving mode, in which the power supply paths and electric power supply paths are indicated by arrows.

[0031] In the EV driving mode, the engine 18 is stopped and the drive motor 20 is driven by electric power supplied from the battery 14. In the EV driving mode, the clutch 50 is disengaged to prevent power from being transmitted between the input shaft 32 and the output gear 48. The driving force of the drive motor 20 is transmitted to the drive wheels 22 via the motor shaft 36, the countershaft 38, and the differential mechanism 40, causing the drive wheels 22 to rotate.

[0032] (Series driving mode) 3 is a diagram showing power and electric power supply paths in the series running mode, in which the power supply paths and electric power supply paths are indicated by arrows.

[0033] In the series traveling mode, the driving force of the engine 18 drives the generator 24 to generate electricity, and the electric power generated by the generator 24 drives the drive motor 20. In the series traveling mode, the clutch 50 is disengaged to prevent power from being transmitted between the input shaft 32 and the output gear 48. The driving force of the engine 18 is transmitted to the generator 24 via the input shaft 32 and the generator shaft 34, causing the generator 24 to generate electricity. The driving force of the drive motor 20 is transmitted to the drive wheels 22 via the motor shaft 36, the countershaft 38, and the differential mechanism 40, causing the drive wheels 22 to rotate.

[0034] (Engine driving mode) Fig. 4 is a diagram showing power and electric power supply paths in the engine running mode, in which the power supply path and the electric power supply path are indicated by arrows.

[0035] In the engine driving mode, the clutch 50 is engaged to transmit power between the input shaft 32 and the output gear 48. The driving force of the engine 18 is transmitted to the drive wheels 22 via the input shaft 32, the motor shaft 36, the countershaft 38, and the differential mechanism 40, causing the drive wheels 22 to rotate.

[0036] [Vehicle control device configuration] 5 is a control block diagram of a vehicle control device 64 in one embodiment. The vehicle control device 64 is mounted on the vehicle 10. The vehicle control device 64 controls the engine 18 and the drive motor 20.

[0037] The vehicle control device 64 has a calculation unit 66 and a memory unit 68. The calculation unit 66 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The calculation unit 66 functions as a required drive torque setting unit 70, an output drive torque acquisition unit 72, a calculation unit 74, a determination unit 75, a reset unit 76, a target drive torque setting unit 78, and a control unit 80. The required drive torque setting unit 70, the output drive torque acquisition unit 72, the calculation unit 74, the determination unit 75, the reset unit 76, the target drive torque setting unit 78, and the control unit 80 are realized by the calculation unit 66 executing a program stored in the memory unit 68. At least a portion of the required drive torque setting unit 70, the output drive torque acquisition unit 72, the calculation unit 74, the determination unit 75, the reset unit 76, the target drive torque setting unit 78, and the control unit 80 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). At least a portion of the required drive torque setting unit 70, output drive torque acquisition unit 72, calculation unit 74, judgment unit 75, reset unit 76, target drive torque setting unit 78 and control unit 80 may be realized by electronic circuits including discrete devices.

[0038] The memory unit 68 is a computer-readable, non-transitory, tangible storage medium. The memory unit 68 is composed of a volatile memory (not shown) and a non-volatile memory (not shown). The volatile memory is, for example, a random access memory (RAM). The non-volatile memory is, for example, a read-only memory (ROM), a flash memory, etc. Data, etc., are stored in the volatile memory. Programs, tables, maps, etc., are stored in the non-volatile memory, for example. At least a portion of the memory unit 68 may be provided in the above-mentioned processor, integrated circuit, etc. At least a portion of the memory unit 68 may be mounted on a device connected to the vehicle 10 via a network.

[0039] The required drive torque setting unit 70 sets the required drive torque for the engine 18 and the drive motor 20 in accordance with the accelerator pedal opening and the vehicle speed. The required drive torque is set based on a preset map.

[0040] In the EV driving mode or the series driving mode, the output driving torque acquisition unit 72 acquires the output driving torque of the drive motor 20. In the engine driving mode, the output driving torque acquisition unit 72 acquires the output driving torque of the engine 18.

[0041] The calculation unit 74 calculates the time integral value of the output drive torque from the point when the output drive torque changes from positive to negative. The change in the positive and negative of the output drive torque means that the output drive torque has changed from positive to negative, or from negative to positive. The determination unit 75 determines whether the time integral value of the output drive torque has reached a predetermined value.

[0042] The calculation unit 74 may calculate the time integral value of the output drive torque from the point in time when the required drive torque changes from positive to negative. The change in the positive and negative sign of the required drive torque indicates that the required drive torque has changed from positive to negative, or from negative to positive.

[0043] When the output drive torque that has turned from positive to negative turns back to positive, the reset unit 76 resets the time integral value calculated by the calculation unit 74. When the output drive torque that has turned from negative to positive turns back to negative, the reset unit 76 resets the time integral value calculated by the calculation unit 74. When the time integral value is reset, the calculation unit 74 calculates the integral value of the output drive torque again.

[0044] When the required drive torque that has turned from positive to negative turns back to positive, the reset unit 76 may reset the time integral value calculated by the calculation unit 74. When the required drive torque that has turned from negative to positive turns back to negative, the reset unit 76 may reset the time integral value calculated by the calculation unit 74.

[0045] The target drive torque setting unit 78 sets the target drive torque in accordance with the required drive torque. Normally, the target drive torque setting unit 78 sets the required drive torque as the target drive torque. On the other hand, when the output drive torque switches between positive and negative, the target drive torque setting unit 78 performs torque limiting processing. When torque limiting processing is performed, the absolute value of the target drive torque is limited to a predetermined limit value or less. When the required drive torque switches between positive and negative, the target drive torque setting unit 78 may perform torque limiting processing.

[0046] In the EV driving mode or the series driving mode, the control unit 80 controls the drive motor 20 via the inverter 28. In the engine driving mode, the control unit 80 controls the throttle opening of the engine 18.

[0047] [Drive source control processing] 6 is a flowchart of a drive source control process performed by the vehicle control device 64 in one embodiment. The drive source control process is repeatedly executed at a predetermined cycle C.

[0048] In step S1, the output drive torque acquisition unit 72 acquires the output drive torque of the drive motor 20 or the output drive torque of the engine 18 depending on the driving mode. That is, when the driving mode is the EV driving mode or the series driving mode, the output drive torque acquisition unit 72 acquires the output drive torque of the drive motor 20. When the driving mode is the engine driving mode, the output drive torque acquisition unit 72 acquires the output drive torque of the engine 18. Then, the process proceeds to step S2.

[0049] In step S2, the required driving torque setting unit 70 sets the required driving torque in accordance with the accelerator pedal opening and the vehicle speed, and then the process proceeds to step S3.

[0050] In step S3, the target drive torque setting unit 78 determines whether the output drive torque has switched between positive and negative by comparing the output drive torque acquired in step S1 of the previous cycle with the output drive torque acquired in step S1 of the current cycle, to determine whether the output drive torque has switched between positive and negative.

[0051] Alternatively, in step S3, the target drive torque setting unit 78 may determine whether the required drive torque has switched between positive and negative. The target drive torque setting unit 78 compares the required drive torque set in step S2 of the previous cycle with the required drive torque set in step S2 of the current cycle to determine whether the required drive torque has switched between positive and negative.

[0052] In step S3, if it is determined that the output drive torque or the required drive torque has switched between positive and negative (step S3: YES), the process proceeds to step S4. In step S4, the target drive torque setting unit 78 sets the torque limit flag to "1". Then, the process proceeds to step S5. In step S5, the reset unit 76 resets the time integral value.

[0053] If it is determined in step S3 that the positive and negative signs of the output drive torque or the required drive torque have not been switched (step S3: NO), the process proceeds to step S6. In step S6, the target drive torque setting unit 78 determines whether the torque limit flag is "1".

[0054] If it is determined in step S6 that the torque limit flag is "1" (step S6: YES), the process proceeds to step S7. In step S7, the calculation unit 74 calculates a time integral value of the output drive torque. The calculation unit 74 calculates the time integral value by adding the value obtained by multiplying the output drive torque acquired in step S1 of the current cycle by the predetermined cycle C to the time integral value calculated in step S7 of the previous cycle. The process then proceeds to step S8.

[0055] In step S8, the determination unit 75 determines whether the time integral of the output drive torque has reached a predetermined value. If the absolute value of the time integral of the output drive torque is equal to or greater than the predetermined value, the determination unit 75 determines that the time integral of the output drive torque has reached the predetermined value. If the absolute value of the time integral of the output drive torque is less than the predetermined value, the determination unit 75 determines that the time integral of the output drive torque has not reached the predetermined value.

[0056] After step S5, or if it is determined in step S8 that the time integral value of the output drive torque has not reached the predetermined value (step S8: NO), the process proceeds to step S9. In step S9, target drive torque setting unit 78 performs torque limiting processing. The target drive torque is set by the torque limiting processing.

[0057] If it is determined in step S8 that the time integral value of the output drive torque has reached the predetermined value (step S8: YES), the process proceeds to step S10. In step S10, the target drive torque setting unit 78 sets the torque limit flag to "0".

[0058] After step S10, or if it is determined in step S6 that the torque limit flag is "0" (step S6: NO), the process proceeds to step S11. In step S11, the target drive torque setting unit 78 sets the target drive torque to the required drive torque.

[0059] After the target drive torque is set in step S9 or step S11, the process proceeds to step S12. In step S12, the control unit 80 controls the drive motor 20 or the engine 18, which are the drive source, depending on the driving mode. That is, when the driving mode is the EV driving mode or the series driving mode, the control unit 80 controls the drive motor 20. When the driving mode is the engine driving mode, the control unit 80 controls the engine 18. Then, the drive source control process ends.

[0060] [Torque limit processing] FIG. 7 is a flowchart showing the torque limiting process carried out by the target drive torque setting unit 78 in step S9 described above.

[0061] In step S21, the target drive torque setting unit 78 determines whether the absolute value of the required drive torque is equal to or greater than a predetermined limit value.

[0062] In step S21, if it is determined that the absolute value of the required drive torque is equal to or greater than the predetermined limit value (step S21: YES), the process proceeds to step S22. In step S22, the target drive torque setting unit 78 sets the target drive torque to the predetermined limit value. If the required drive torque is negative, the target drive torque is set to the negative predetermined limit value. Then, the torque limiting process ends.

[0063] In step S21, if it is determined that the absolute value of the required drive torque is less than the predetermined limit value (step S21: NO), the process proceeds to step S23. In step S23, the target drive torque setting unit 78 sets the target drive torque to the required drive torque. Then, the torque limiting process ends.

[0064] [Example of vehicle behavior before and after torque limiting processing (1)] FIG. 8 is a time chart showing the operation of vehicle 10 before and after torque limiting processing. The top time chart in FIG. 8 is a time chart of the accelerator pedal opening. The second time chart from the top in FIG. 8 is a time chart of the torque limiting flag. The bottom time chart in FIG. 8 is a time chart of the driving torque. The torque chart shown in FIG. 8 shows an image of the change in operation of vehicle 10 before and after torque limiting processing.

[0065] (Time t0 to time t1) In the period from time t0 to time t1 in FIG. 8, the accelerator pedal opening is 0%. When the accelerator pedal opening is 0%, the required drive torque is set to torque -T1 [N·m]. During this period, the output drive torque does not switch between positive and negative, so the torque limit flag is "0" and torque limit processing is not performed. Therefore, the target drive torque is not limited, and the target drive torque is set to torque -T1 [N·m], which is the same as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque becomes torque -T1 [N·m].

[0066] (Time t1 to time t2) At time t1 in Figure 8, the accelerator pedal is depressed, and the accelerator pedal opening becomes A1 [%]. At this time, the required drive torque is set to torque T2 [N·m]. Because the output drive torque does not switch between positive and negative between time t1 and time t2, the torque limit flag is "0" and torque limit processing is not performed. Therefore, the target drive torque is not limited, and the target drive torque is set to torque T2 [N·m], the same as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque increases.

[0067] (Time t2 to time t3) At time t2 in Figure 8, the output drive torque changes from negative to positive. At time t2, the torque limit flag switches from "0" to "1" and torque limit processing begins. As a result, the absolute value of the target drive torque is limited to a predetermined limit value TL [N·m] or less. Between time t2 and time t3, the required drive torque is greater than the predetermined limit value TL [N·m], so the target drive torque is set to the predetermined limit value TL [N·m]. The drive motor 20 or the engine 18 is controlled based on the target drive torque set to the predetermined limit value TL [N·m], and the output drive torque approaches the predetermined limit value TL [N·m].

[0068] At time t2 when the output drive torque changes from negative to positive, calculation of the time integral value of the output drive torque begins.

[0069] (Time t3~) At time t3 in Figure 8, the time integral of the output drive torque reaches a predetermined value. At time t3, the torque limit flag switches from "1" to "0" and the torque limit process ends. As a result, the limit on the target drive torque is released and the target drive torque is set to the same torque T2 [N m] as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque increases again.

[0070] (Suppression of gear rattle noise by torque limiting processing) 8, the output drive torque is negative, and torque is transmitted from the drive wheels 22 to the drive motor 20, or from the drive motor 20 to the engine 18. On the other hand, the output drive torque is positive from the time point t2 onwards, and torque is transmitted from the drive motor 20 to the drive wheels 22, or from the engine 18 to the drive wheels 22. Therefore, around time t2, the meshing tooth surfaces of the gears in the drive unit 12 change. At this time, the tooth surfaces of the gears collide with each other, which may cause rattle noise.

[0071] Torque limiting processing is performed between time t2 and time t3. This limits the absolute value of the output drive torque to a predetermined limit value TL [N m] or less. This reduces the impact when the gear tooth surfaces collide, and suppresses the volume of gear rattle noise.

[0072] [Example of vehicle behavior before and after torque limiting processing (2)] FIG. 9 is a time chart showing the operation of vehicle 10 before and after torque limiting processing. The top time chart in FIG. 9 is a time chart of the accelerator pedal opening. The second time chart from the top in FIG. 9 is a time chart of the torque limiting flag. The bottom time chart in FIG. 9 is a time chart of the driving torque. The torque chart shown in FIG. 9 shows an image of the change in operation of vehicle 10 before and after torque limiting processing.

[0073] (Time t10 to time t11) In the period from time t10 to time t11 in Figure 9, the accelerator pedal opening is 0 [%]. When the accelerator pedal opening is 0 [%], the required drive torque is set to torque -T1 [N·m]. During this period, the output drive torque does not switch between positive and negative, so the torque limit flag is "0" and torque limit processing is not performed. Therefore, the target drive torque is not limited, and the target drive torque is set to torque -T1 [N·m], which is the same as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque becomes torque -T1 [N·m].

[0074] (Time t11 to time t12) At time t11 in Figure 9, the accelerator pedal is depressed, and the accelerator pedal opening becomes A2 [%]. At this time, the required drive torque is set to torque T3 [N·m]. Because the output drive torque does not switch between positive and negative between time t11 and time t12, the torque limit flag is "0" and torque limit processing is not performed. Therefore, the target drive torque is not limited, and the target drive torque is set to the same torque T3 [N·m] as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque increases.

[0075] (Time t12 to time t13) At time t12 in Figure 9, the output drive torque changes from negative to positive. At time t12, the torque limit flag switches from "0" to "1" and torque limit processing begins. As a result, the absolute value of the target drive torque is limited to a predetermined limit value TL [N·m] or less. Between time t12 and time t13, the required drive torque is smaller than the predetermined limit value TL [N·m], so the target drive torque is set to torque T3 [N·m], which is the same as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque set to torque T3 [N·m], and the output drive torque approaches torque T3 [N·m].

[0076] At time t12 when the output drive torque changes from negative to positive, calculation of the time integral value of the output drive torque begins.

[0077] (Time t13 to time t14) At time t13 in Figure 9, the accelerator pedal is further depressed, and the accelerator pedal opening becomes A1 [%], which is larger than A2 [%]. As the accelerator pedal opening increases, the required drive torque increases to torque T2 [N m]. Between time t13 and time t14, the time integral of the output drive torque does not reach the predetermined value, so the torque limit flag remains "1" and torque limit processing continues.

[0078] During the period from time t13 to time t14, the required drive torque is greater than the predetermined limit value TL [N·m], so the target drive torque is set to the predetermined limit value TL [N·m]. The drive motor 20 or the engine 18 is controlled based on the target drive torque set to the predetermined limit value TL [N·m], and the output drive torque approaches the predetermined limit value TL [N·m].

[0079] (Time t14~) At time t14 in Figure 9, the time integral of the output drive torque reaches a predetermined value. At time t14, the torque limit flag switches from "1" to "0" and the torque limit process ends. As a result, the limit on the target drive torque is released and the target drive torque is set to the same torque T2 [N m] as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque increases again.

[0080] (Extended torque limit processing period) Torque limiting processing is carried out during the period from time t12 to time t14 in Figure 9. By the torque limiting processing, the absolute value of the output drive torque is limited to a predetermined limit value TL [N·m] or less.

[0081] During the period from time t12 to time t13 during which the torque limiting process is performed, the required drive torque (torque T3 [N·m]) is smaller than the predetermined limit value TL [N·m], so the target drive torque is set to torque T3 [N·m], which is smaller than the predetermined limit value TL [N·m]. This increases the time it takes to remove gear backlash, but also lengthens the period during which the torque limiting process is performed, reducing the impact when gear tooth surfaces collide and suppressing the volume of gear rattle noise.

[0082] [Example of vehicle behavior before and after torque limiting processing (3)] FIG. 10 is a time chart showing the operation of vehicle 10 before and after torque limiting processing. The top time chart in FIG. 10 is a time chart of accelerator pedal opening. The second time chart from the top in FIG. 10 is a time chart of the torque limiting flag. The bottom time chart in FIG. 10 is a time chart of driving torque. The torque charts shown in FIG. 10 show an image of the change in operation of vehicle 10 before and after torque limiting processing.

[0083] (Time t20 to time t21) From time t20 to time t21 in Figure 10, the accelerator pedal opening is 0 [%]. When the accelerator pedal opening is 0 [%], the required drive torque is set to torque -T1 [N·m]. During this period, the output drive torque does not switch between positive and negative, so the torque limit flag is "0" and torque limit processing is not performed. Therefore, the target drive torque is not limited, and the target drive torque is set to torque -T1 [N·m], which is the same as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque becomes torque -T1 [N·m].

[0084] (Time t21 to time t22) At time t21 in Figure 10, the accelerator pedal is depressed, and the accelerator pedal opening becomes A3 [%]. At this time, the required drive torque is set to torque T4 [N·m]. Because the output drive torque does not switch between positive and negative between time t21 and time t22, the torque limit flag is "0" and torque limit processing is not performed. Therefore, the target drive torque is not limited, and the target drive torque is set to the same torque T4 [N·m] as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque increases.

[0085] (Time t22 to time t23) At time t22 in Figure 10, the output drive torque changes from negative to positive. At time t22, the torque limit flag switches from "0" to "1" and torque limit processing begins. As a result, the absolute value of the target drive torque is limited to a predetermined limit value TL [N·m] or less. Between time t22 and time t23, the required drive torque is greater than the predetermined limit value TL [N·m], so the target drive torque is set to the predetermined limit value TL [N·m]. The drive motor 20 or the engine 18 is controlled based on the target drive torque set to the predetermined limit value TL [N·m], and the output drive torque approaches the predetermined limit value TL [N·m].

[0086] At time t22 when the output drive torque changes from negative to positive, calculation of the time integral value of the output drive torque begins.

[0087] (Time t23 to time t24) At time t23 in Figure 10, the accelerator pedal is released and the accelerator pedal depression degree becomes 0%. When the accelerator pedal depression degree is 0%, the required drive torque is set to a negative torque -T1 [N·m]. Because the time integral value of the output drive torque does not reach the predetermined value between time t23 and time t24, the torque limit flag remains "1" and torque limit processing continues. Therefore, the absolute value of the target drive torque is limited to a predetermined limit value TL [N·m] or less. Because the required drive torque is smaller than the predetermined limit value -TL [N·m] between time t23 and time t24, the target drive torque is set to the predetermined limit value -TL [N·m]. The drive motor 20 or the engine 18 is controlled based on the target drive torque set to the predetermined limit value -TL [N·m], and the output drive torque approaches the predetermined limit value -TL [N·m].

[0088] (Time t24~Time t25) At time t24 in Figure 10, the output drive torque changes from positive to negative, so the calculation of the time integral of the output drive torque is reset. At time t24, the calculation of the time integral of the output drive torque is restarted.

[0089] (Time t25~Time t26) At time t25 in Figure 10, the accelerator pedal is depressed, and the accelerator pedal opening becomes A1 [%]. At this time, the required drive torque is set to a positive torque T2 [N·m]. Because the time integral of the output drive torque does not reach the predetermined value between time t25 and time t26, the torque limit flag remains "1" and torque limit processing continues.

[0090] During the period from time t25 to time t26, the required drive torque is greater than the predetermined limit value TL [N·m], so the target drive torque is set to the predetermined limit value TL [N·m]. The drive motor 20 or the engine 18 is controlled based on the target drive torque set to the predetermined limit value TL [N·m], and the output drive torque approaches the predetermined limit value TL [N·m].

[0091] (Time t26~Time t27) At time t26 in Figure 10, the output drive torque changes from negative to positive, so the calculation of the time integral of the output drive torque is reset. At time t26, the calculation of the time integral of the output drive torque is restarted.

[0092] (From time t27) At time t27 in Figure 10, the time integral of the output drive torque reaches a predetermined value. At time t27, the torque limit flag switches from "1" to "0," and the torque limit process ends. As a result, the limit on the target drive torque is released and the target drive torque is set to the same torque T2 [N m] as the required drive torque. The drive motor 20 or the engine 18 is controlled based on the target drive torque, and the output drive torque increases again.

[0093] (Resetting the time integral value of the output drive torque) Torque limiting processing is performed during the period from time t22 to time t27 in Figure 10. By torque limiting processing, the output drive torque is limited to a predetermined limit value TL [N·m] or less, or to a predetermined limit value -TL [N·m].

[0094] During the period in which the torque limiting process is performed, the output drive torque changes from positive to negative at time t24, and from negative to positive at time t26. Around time t24 and around time t26, the meshing tooth surfaces between the gears in the drive unit 12 change. This lengthens the time it takes for gear backlash to be removed, but at time t24 and time t26, the time integral of the output drive torque is reset. This lengthens the period in which the torque limiting process is performed, reducing the impact when the gear tooth surfaces collide and suppressing the volume of gear rattle noise.

[0095] The following additional notes are further disclosed regarding the above embodiment.

[0096] (Appendix 1) A vehicle control device (64) of the present disclosure includes a target drive torque setting unit (78) that sets a target drive torque of a drive source (18, 20) that drives drive wheels (22) provided on a vehicle (10), an output drive torque acquisition unit (72) that acquires an output drive torque of the drive source, a control unit (80) that controls the drive source in accordance with the target drive torque, and a time integral value of the output drive torque after the positive and negative signs of the output drive torque are switched. The system includes a calculation unit (74) that calculates a time integral value of dynamic torque, and a determination unit (75) that determines whether the time integral value calculated by the calculation unit has reached a predetermined value, and when the positive and negative signs of the output drive torque or the required drive torque are switched, the target drive torque setting unit executes torque limiting processing to limit the absolute value of the target drive torque to a predetermined limit value or less, and when the determination unit determines that the time integral value has reached the predetermined value, the target drive torque setting unit terminates the torque limiting processing. This makes it possible to reduce gear rattle noise regardless of the magnitude of the output drive torque.

[0097] (Appendix 2) The vehicle control device described in Supplementary Note 1 may further comprise a reset unit (76) that resets the time integral value of the output drive torque when the output drive torque or the required drive torque, which has turned from positive to negative, turns positive again, or when the output drive torque or the required drive torque, which has turned from negative to positive, turns negative again. This makes it possible to reduce gear rattle noise regardless of whether the output drive torque increases or decreases.

[0098] (Appendix 3) A vehicle according to the present disclosure includes the vehicle control device described in Supplementary Note 1 or 2. This makes it possible to reduce gear rattle noise regardless of the magnitude of the output drive torque.

[0099] (Appendix 4) The vehicle control method of the present disclosure includes a target drive torque setting step of setting a target drive torque of a drive source that drives drive wheels of a vehicle, an output drive torque acquisition step of acquiring an output drive torque of the drive source, a control step of controlling the drive source in accordance with the target drive torque, a calculation step of calculating a time integral of the output drive torque after a polarity change of the output drive torque or a time integral of the target drive torque after a polarity change of a required drive torque for the drive source, and a determination step of determining whether the time integral calculated in the calculation step has reached a predetermined value, wherein if the polarity change of the output drive torque or the required drive torque has occurred, the target drive torque setting step executes a torque limiting process to limit the absolute value of the target drive torque to a predetermined limit value or less, and the target drive torque setting step terminates the torque limiting process based on the determination step that the time integral has reached the predetermined value, thereby reducing gear rattle noise regardless of the magnitude of the output drive torque.

[0100] (Appendix 5) The vehicle control method described in Supplementary Note 4 may further include a reset step of resetting the time integral of the output drive torque when the output drive torque or the required drive torque, which has turned from positive to negative, turns positive again, or when the output drive torque or the required drive torque, which has turned from negative to positive, turns negative again. This makes it possible to reduce gear rattle noise regardless of whether the output drive torque increases or decreases.

[0101] (Appendix 6) The program of the present disclosure causes a computer to execute the vehicle control method described in Supplementary Note 4 or 5. This makes it possible to reduce gear rattle noise regardless of the magnitude of the output drive torque.

[0102] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments. [Explanation of symbols]

[0103] 10...Vehicle 18...Engine (power source) 20... Drive motor (drive source) 22... Drive wheel 64... Vehicle control device 72... Output drive torque acquisition unit 74...Calculation section 75...Judgment section 76...Reset section 78...Target driving torque setting section 80...Control unit

Claims

1. a target drive torque setting unit that sets a target drive torque of a drive source that drives drive wheels provided on the vehicle; an output drive torque acquisition unit that acquires an output drive torque of the drive source; a control unit that controls the drive source in accordance with the target drive torque; a calculation unit that calculates a time integral value of the output drive torque after the sign of the output drive torque is switched between positive and negative, or calculates a time integral value of the target drive torque after the sign of the required drive torque for the drive source is switched between positive and negative; a determination unit that determines whether the time integral value calculated by the calculation unit has reached a predetermined value; Equipped with When the positive and negative signs of the output drive torque or the required drive torque are switched, the target drive torque setting unit executes a torque limiting process to limit the absolute value of the target drive torque to a predetermined limit value or less, The vehicle control device, wherein the target drive torque setting unit terminates the torque limiting process based on the determination by the determination unit that the time integral value has reached the predetermined value.

2. 2. The vehicle control device according to claim 1, A vehicle control device further comprising a reset unit that resets the time integral value of the output drive torque when the output drive torque or the required drive torque, which has turned from positive to negative, turns positive again, or when the output drive torque or the required drive torque, which has turned from negative to positive, turns negative again.

3. A vehicle comprising the vehicle control device according to claim 1 or 2.

4. a target drive torque setting step of setting a target drive torque of a drive source that drives drive wheels provided on the vehicle; an output drive torque acquisition step of acquiring an output drive torque of the drive source; a control step of controlling the drive source in accordance with the target drive torque; a calculation step of calculating a time integral value of the output drive torque after the sign of the output drive torque is switched between positive and negative, or calculating a time integral value of the target drive torque after the sign of the required drive torque for the drive source is switched between positive and negative; a determination step of determining whether the time integral value calculated in the calculation step has reached a predetermined value; and When the positive and negative signs of the output drive torque or the required drive torque are switched, the target drive torque setting step executes a torque limiting process for limiting the absolute value of the target drive torque to a predetermined limit value or less; The vehicle control method, wherein the torque limiting process is terminated in the target drive torque setting step based on the determination in the determining step that the time integral value has reached the predetermined value.

5. 5. The vehicle control method according to claim 4, A vehicle control method further comprising a reset step of resetting the time integral value of the output drive torque when the output drive torque or the required drive torque, which has turned from positive to negative, turns positive again, or when the output drive torque or the required drive torque, which has turned from negative to positive, turns negative again.

6. A program that causes a computer to execute the vehicle control method according to claim 4 or 5.

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